摘要
在电力系统中,为了更好、更方便地遥控操作机器人清理气体绝缘开关设备(Gas Insulated Switchgear,GIS)腔体内的螺栓、螺母等异物,研发GIS维护机器人监控系统。采用Qt平台开发,结合FFMPEG和OpenCV采集RTMP网络视频流并进行图像处理,实现对腔体内异物的检测识别与精准定位;以SLAM点云进行环境感知,还原出机器人在腔体内的实际场景。测试结果表明,在无线环境下,该系统可高效实现与机器人的数据交互和有效地实时监控,较好地完成GIS腔体内遗留物的识别与清理。
In the power system,gas insulated switchgear(GIS)maintenance robot monitoring system is developed for better and more convenient remote-operated robot to clean up the screws,nuts and other foreign matters in GIS cavity.Qt platform was used for development.Combined with FFMPEG and OpenCV acquisition RTMP network video stream and image processing,the detection and identification of foreign bodies in the cavity and precise location was realized.SLAM point cloud was used for environment perception to restore the actual scene of robot in the cavity.The test results show that in wireless environment,the system can effectively realize data interaction with the robot and effective real-time monitoring,and can better complete the identification and cleaning of the residue in GIS cavity.
作者
范智霖
佃松宜
Fan Zhilin;Dian Songyi(School of Electrical Engineering,Sichuan University,Chengdu 610065,Sichuan,China)
出处
《计算机应用与软件》
北大核心
2024年第1期1-6,81,共7页
Computer Applications and Software
基金
国家重点研发计划项目(2018YFB1307401)。
